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EP2885200B1 - Mechanische positionierungsvorrichtung und verfahren - Google Patents

Mechanische positionierungsvorrichtung und verfahren Download PDF

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Publication number
EP2885200B1
EP2885200B1 EP13752868.3A EP13752868A EP2885200B1 EP 2885200 B1 EP2885200 B1 EP 2885200B1 EP 13752868 A EP13752868 A EP 13752868A EP 2885200 B1 EP2885200 B1 EP 2885200B1
Authority
EP
European Patent Office
Prior art keywords
dimension
positioning
workpiece
alignment feature
centring pin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP13752868.3A
Other languages
English (en)
French (fr)
Other versions
EP2885200A1 (de
Inventor
Roland Graf
Marco Forneris
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hexagon Metrology SpA
Original Assignee
Hexagon Metrology SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hexagon Metrology SpA filed Critical Hexagon Metrology SpA
Priority to PL13752868T priority Critical patent/PL2885200T3/pl
Priority to EP13752868.3A priority patent/EP2885200B1/de
Publication of EP2885200A1 publication Critical patent/EP2885200A1/de
Application granted granted Critical
Publication of EP2885200B1 publication Critical patent/EP2885200B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
    • B62D65/026—Positioning of sub-units or components with respect to body shell or other sub-units or components by using a jig or the like; Positioning of the jig
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/06—Arrangements for positively actuating jaws
    • B25B5/061—Arrangements for positively actuating jaws with fluid drive
    • B25B5/064—Arrangements for positively actuating jaws with fluid drive with clamping means pivoting around an axis perpendicular to the pressing direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/047—Accessories, e.g. for positioning, for tool-setting, for measuring probes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35162—Determine workpiece placement, nesting in blank, optimize, minimize loss material

Definitions

  • the present invention pertains to a method and device for precise mechanical positioning and orienting of an object in space.
  • the invention relates to a method and system for highly repeatable and highly precise setting up of an object in a given coordinate system, especially for measuring purposes during production.
  • the present invention relates to a method and device for arranging main body parts of an automobile for assembly or measuring in an automobile assembly line.
  • the method and device according to the present invention correspond to the mechanical solution of the metrological alignment principle known as "Reference Positioning System” (RPS).
  • RPS Reference Positioning System
  • the principle for placement and alignment according to the RPS, for instance, is described in Lichtenberg, Thilo (2006): “A flexible vehicle measurement system for modern automobile production” (Master Thesis at the Faculty of Engineering, the Built Environment and Information Technology of the Nelson Mandela Metropolitan University ).
  • a workpiece such as a car body
  • alignment is already taken into consideration in the shape of certain alignment features of the workpiece.
  • these alignment features comprise a circular hole, an elongated slot and a planar surface.
  • the support which for example can be a cylindrical bolt, is smaller than the minimum dimension of the alignment feature. This means that the position of the workpiece can vary within the maximum clearance space which is at least as big as the tolerance of the alignment feature. This tolerance includes the theoretical production variation and wearing effects caused by positioning the part in various assembly steps.
  • the support has the form of a sphere or is conical, which means that it is self-centring in X and Y directions. But, as a consequence, its Z-position cannot be defined accurately.
  • Deviations in position or dimension of a workpiece's feature compared to its theoretical value are typically expressed by referring to the workpiece's own coordinate system, the Part Coordinate System (PCS).
  • the PCS is defined during the design process of its corresponding workpiece. For measuring a position or dimension of a feature of the workpiece the PCS therefore needs to be connected to the measurement coordinate system, i.e. in the real three-dimensional space.
  • This alignment procedure preferably can be carried out by means of the "3-2-1 rules".
  • the minimum number of constraints is used, which means that the location of one alignment feature is known in three dimensions (XYZ), the second in two (YZ) and the third in one dimension (Z).
  • the first location defines three degrees of freedom, the second two degrees of freedom and the third one degree of freedom. Therefore, six degrees of freedom are defined, and so are the position and orientation of a (rigid) workpiece.
  • the workpiece especially for sheet metal parts, there can be three features defined which serve that purpose, for example a circular hole, an elongated slot and a planar surface.
  • the part could be placed on conical pins which are movable in the X- and Y-dimensions.
  • Their XY-position is read by measurement means, for instance by a laser tracker or preferably by encoder means, such as linear and/or rotary encoders, and the alignment of the workpiece is done based on those measurement data.
  • conical pins lead to a possibly inaccurate alignment with respect to their longitudinal axis, i.e. the Z-axis of the coordinate system, due to the production tolerance of the feature itself, e.g. of the diameter of its hole. This means that the alignment feature might not be levelled correctly in the Z-dimension.
  • a particular object of the present invention is to provide such a method and device that avoids the disadvantages of the solutions known from prior art.
  • a particular object of the present invention is to provide such a method and device for subsequent measuring of the workpiece, in particular wherein the positioning and orienting of the workpiece has an accuracy corresponding to that of the measuring device and a higher accuracy than the tolerances of the measured features, in particular at least one order of magnitude higher.
  • a particular object of the present invention is to provide such a method and device, wherein the position and orientation of the workpiece can be fixed.
  • Another particular object of the present invention is to provide such a method and device for a fully automatic alignment fixture in an automotive production line.
  • positioning of a workpiece is not understood as necessarily being a positioning in six degrees of freedom. Also, for instance, an orienting of the workpiece in three rotational degrees of freedom is understood as positioning.
  • centring pins are used to align a workpiece in a defined XY position by engaging alignment features of the workpiece, the defined position being independent from the alignment feature's production tolerances such as their diameters and their relative positions with respect to each other.
  • Positioning units of the reference positioning system comprise reception units for being contacted by alignment features of the workpiece to be positioned.
  • the reception units at least comprise a reference level locator.
  • At least two reception units additionally comprise a centring pin.
  • a first positioning unit comprises a first centring pin, preferably of conical or similar shape, which is designed for being introduced into a hole of a first alignment feature of the workpiece in order to position the first alignment feature fixedly in a first and a second dimension.
  • at least the first centring pin - and preferably also a second centring pin of a second positioning unit - is moveable in the third dimension (in particular along the vertical axis), allowing the workpiece, after having been positioned in two dimensions, to move in the third dimension until it reaches a reference level located at known distances from a first reference level locator of the first positioning unit and further reference level locators of at least two more positioning units.
  • This reference level locator can be low-friction moveable in the first and second dimensions, which allows supporting the weight of the workpiece and self-centring of the workpiece by means of the first centring pins.
  • the movement of the centring pin can be passive as well as actively controlled, i.e. it could either be spring loaded or movable by actuators like motors, pneumatic systems or the like.
  • the centring pins of the first and second positioning units are conical in order to fit the dimension variation of the alignment features they will lock (different diameter for every incoming part).
  • the angle and surface of the conical shaped pins preferably are designed to prevent locking caused by friction.
  • the surface of the centring pins and/or the reference level locators is made of tempered steel or is hardened by other means, in order to prevent a wearing off of the material, which could reduce the accuracy of the centring or levelling, respectively.
  • a wearing off for example could occur through abrasion, in particular every time when the pin is introduced into a hole not centrally.
  • the second centring pin is shaped similar to a pyramid or a hipped roof, so that in particular its cross section orthogonal to the direction of the workpiece's length is that of a prism.
  • the contact area between the pin and the slot is enlarged.
  • the length of the pin is smaller than the length of the slot minus the tolerance of the workpiece.
  • the pin is rotatable around the Z-axis in order to compensate for any angular error of the slot.
  • built-in clamping means of the first or all positioning units allow fastening the workpiece at least to the first reference level locator.
  • the clamping means can comprise a hook that is provided in the centring pin, wherein for clamping the workpiece the hook moves radially first, and then pushes the workpiece downwards to the reference level locator. Multiple hooks per centring pin could be used for distributing the pulling force more evenly.
  • the clamping means could also be a part of the reference level locator. For instance, a magnet or suction cup could be used for fixing sheet metal parts to the reference level locator.
  • four positioning units are used, all positioning units having a reference level locator for positioning the workpiece and clamping means that allow fastening the workpiece.
  • the reference level locator, the centring pin or other parts of the reference positioning system comprises sensor means for detecting a contact with an alignment feature of the workpiece.
  • a quality or value (pressure, centeredness, etc.) of the contact could be detected to check if the achieved accuracy of the alignment is within the tolerances of the present application.
  • the initial setting up of the centring pins and the XY planes in the required orientation and position preferably is supported by means of a measurement device, for example a laser tracker or, in the case of a measurement cell, the target measurement system itself.
  • a measurement device for example a laser tracker or, in the case of a measurement cell, the target measurement system itself.
  • more than one positioning unit has a retractable centring pin, in particular all positioning units.
  • retractable centring pins is the prevention of damage to the centring pins as well as to the alignment features or other parts of the workpiece, when the workpiece is placed on the reference positioning unit.
  • the positions of the alignment features of the workpiece are adaptable in three dimensions, for example in order to allow altering the design of the workpiece or to allow use of the same reference positioning system with different kinds of workpieces.
  • the setup of the positioning units of the reference positioning system can be programmable for different kinds of workpieces having different setups of alignment features.
  • the positioning units thus can be positioned according to the alignment features' setup.
  • centring pins can be retracted or extracted depending on whether the respective alignment feature has a hole. Additional positioning units, not needed for the alignment of a certain workpiece could be lowered or moved out-of-the-way in order to not disturb the alignment.
  • mechanical pre-aligning means are provided for approximately aligning the workpiece (or a skid on which the workpiece is automatically transported to the reference positioning system) before placing it on the reference positioning system, in order to ensure that the alignment features of the workpiece can be contacted by the positioning units.
  • a measurement device for example a laser tracker or, in the case of a measurement cell, the target measurement system itself, by measuring special features close to the alignment features.
  • This confirmation cycle can be fully automated using the same infrastructure which in the production process controls the measurement equipment, or the calculation means of the measurement equipment.
  • a movability of at least one centring pin can be switched on and off. This way the functionalities of the different positioning units could be exchanged in order to be able to use one system set up for different variations of a workpiece, for instance as well for a right-hand-drive and a left-hand-drive car body.
  • three positioning units are used for determining the workpiece reference system and locating it in three-dimensional space.
  • the alignment features of the workpiece comprise planar surfaces for defining a Z-position and Z-direction (all alignment features), a circular hole for defining an XY-position (first alignment feature) and an elongated slot for defining an XY-direction (second alignment feature).
  • the reference level locators of at least the second and third positioning units preferably are low-friction moveable in the first and second dimensions, which allows supporting the weight of the workpiece and self-centring of the workpiece by means of the first centring pins.
  • reference level locators it is not necessary that all reference level locators or even a single reference level locator are arranged on the reference level, as the alignment features of the workpiece normally are not arranged on the same level either. Instead, the reference level is understood in such a way that the workpiece is aligned with respect to the reference level when the alignment features contact the reference level locators in the contact levels.
  • Another aspect of the invention is a positioning unit as a stand-alone solution, as the positioning units of the reference positioning system described above can also be used separately or in different combinations for positioning an alignment feature of a workpiece. This includes also the features clamping functionality and movable centring pins.
  • FIG. 1 a car body as an example of a workpiece 5 to be aligned is shown in a top plan view. A typical location of alignment features of the car body is shown.
  • the depicted car body has four alignment features 10,20,30,40 positioned at known locations with respect to a part coordinate system and designed for being contacted by positioning units of a reference positioning system according to the invention, in particular for an insertion of centring pins.
  • the first alignment feature 10 and the third alignment feature 30 comprise a circular hole
  • the secondary alignment feature 20 and the additional feature 40 comprise an elongated slot.
  • the additional feature 40 is only optional.
  • the reference positioning system is set up in a three-dimensional coordinate system having a first dimension X, a second dimension Y and a third dimension Z, symbolized by the X-, Y- and Z-axes.
  • the third dimension Z is basically vertical.
  • the reference positioning system is a part locator that guarantees the defined position and orientation of the workpiece 5 within the measurement volume of a 3D measurement device.
  • the reference positioning system in particular can be used for car bodies or chassis parts as depicted in Figure 1 .
  • Two positioning units 1,2 of the reference positioning system have a centring pin 11,21 that guides the respective alignment feature 10,20 of the workpiece 5 to its theoretical position, within the mechanical repeatability of the reference positioning system.
  • the other positioning units 3,4 optionally can have a pin 31,32, too.
  • Initial adjustment of the reference positioning system and/or of the single positioning units 1,2,3,4 with respect to their three-dimensional position is, for instance, provided by a laser tracker 6. Their relative position is calibrated before the placement of the first workpiece 5. All positioning units 1,2,3,4 are then fixed (for instance supported on a pillar) in the measuring volume of the 3D measurement device. Also a recalibration after a fixed number of workpieces 5 or at defined service intervals can be done using the laser tracker 6.
  • the reference positioning system is shown before the workpiece 5 is placed on top of it.
  • the reference positioning system comprises at least three positioning units 1,2,3.
  • Every positioning unit 1,2,3,4 comprises a reference level locator 12,22,32,42. These are fixed in the third dimension Z in a known distance from a reference level Z 0 (not shown) of the workpiece 5, and each define a contact level Z 1 , Z 2 , Z 3 , Z 4 (not shown). They are movable in the first and second dimension X,Y, in particular 5mm in every direction, in order to facilitate the positioning adjustment of the workpiece 5, when it is placed on the reference positioning system. All or some of the positioning units 1,2,3,4 can comprise clamping means (not shown) for fixedly connecting the aligned workpiece to the positioning units 1,2,3,4. Alternatively, the workpiece 5 is fixed on the positioning units 1,2,3,4 by means of gravity.
  • the first positioning unit 1 comprises a first centring pin 11, in particular having a conical or similar shape as the first alignment feature 10 of the workpiece 5 comprises a circular hole.
  • the second positioning unit 2 comprises a second centring pin 21, in particular having a pyramidal or similar shape as the second alignment feature 20 of the workpiece 5 comprises an elongated slot.
  • the third positioning unit 3 and the optional fourth positioning unit 4 can have optional pins 31,41 (depicted with dotted lines). These pins are preferably cylindrical.
  • Each alignment feature 10,20,30,40 comprises a planar surface, designed to contact the reference level locators 12,22,32,42 in the contact level Z 1 , Z 2 , Z 3 , Z 4 for positioning the workpiece 5 in the defined reference level Z 0 .
  • the corresponding positioning unit 1,2,3,4 comprises a centring pin 11,21,31,41
  • an opening is provided for accepting the centring pin 11,21,31,41 and positioning the alignment features 10,20,30,40 in the first dimension X and the second dimension Y.
  • the opening of the first alignment feature 10 preferably, is a circular hole.
  • the workpiece 5 is placed on a reference positioning system having three positioning units 1,2,3.
  • the first positioning unit 1 is designed for aligning the first alignment feature 10 of the workpiece 5 in all three dimensions X,Y,Z
  • the second positioning unit 2 is designed for aligning the second alignment feature 20 in X- and Z-dimensions
  • the third positioning unit 3 is designed for aligning the second alignment feature 30 in Z-dimension only.
  • the three pins 11,21,31 are introduced into corresponding holes of the alignment features 10,20,30.
  • the first centring pin 11 When the first centring pin 11 is introduced into the hole of the first alignment feature 10, this is centred on the first centring pin 11 and thus aligned in the first and second dimension X,Y.
  • the first centring pin 11 is retractable in the third dimension Z behind the contact level Z 1 .
  • the first alignment feature 10, all the time remaining centred on the first centring pin 11, follows the retracting movement of the first centring pin 11 until it contacts the first reference level locator 12, thus reaching the contact level Z 1 .
  • the second alignment feature 20 is aligned with respect to the second dimension Y.
  • the first alignment feature 10 will remain in this exact alignment position autonomously.
  • Additional clamping means (not shown) can be provided, though, for securely fixing the alignment position of the alignment features.
  • the clamping could be necessary for instance if there are processes subsequent to the alignment in which the workpiece 5 is handled or contacted by processing machinery or measured by means of a contacting gauge head.
  • clamping can be used for counteracting an elasticity of the workpiece 5, which otherwise would prevent a contact of an alignment feature with a positioning unit and thus an exact alignment of the workpiece 5.
  • the first positioning unit 1 comprises a basically conical centring pin 11 for insertion into the hole 10 of the workpiece 5, and a floating group 14, which is movable in a first and second dimension X,Y relative to a fixed group 15.
  • the floating group 14 is fixed on the fixed group 15 with respect to the third dimension Z and has a reference level locator 12 located at a known distance from the workpiece's reference level Z 0 in the XY-plane and defining a first contact level Z 1 .
  • the centring pin 11 is connected to the fixed group 15 movable in the third dimension Z and fixed with respect to the first and second dimension X,Y.
  • a hook 13 is provided at the centring pin 11 for clamping the workpiece 5 to the reference level locator 12.
  • the fixed group 15 is attached to a base 16.
  • an optional pillar 17 is shown on which the base 16 of the first positioning unit 1 can be placed.
  • the centring pin 11 is inserted into the hole of the first alignment feature 10 of the workpiece 5.
  • actuator means not shown
  • the first alignment feature 10 is centred on the centring pin 11 with respect to the first and second dimensions X,Y - usually defining a basically horizontal plane.
  • the centring pin 11 is moved back into the fixed group 15 by the actuator means, so that a part of the centring pin 11 is retracted behind the reference level locator 12.
  • the first alignment feature 10 - all the time remaining centred on the pin 11 - follows the movement of the centring pin 11 in the third dimension Z until contacting the reference level locator 12. With this contact, the first alignment feature 10 reaches its supposed position with respect to all three dimensions.
  • FIGs 4a and 4b a sectional view of the first positioning unit 1 from Figures 3a-d is depicted.
  • the centring pin 11 is drivable in the third dimension Z by driving means 110 and transmission means 111 hidden inside the fixed part 15.
  • the driving means 110 for instance, can be motor means, pneumatic means or hydraulic means.
  • the centring pin 11 comprises a hook 13 as clamping means for fixing the alignment feature of the workpiece to the reference level locator 12.
  • the hook 13 is movable in a hollow space 130 in the centring pin 11.
  • Various means for driving the hook 13 are possible.
  • the hook 13 is suspended tiltably around the Y-axis on an axle 131 and driven by a cylinder 132 rotatable around the Z-axis and movable in the third dimension Z.
  • the reference level locator 12 is part of the floating group 14, which is attached to the fixed group 15 movably in the XY-plane, for instance by means of ball bearings (not shown).
  • the centring pin 11 is extracted into a centring position, in which a hole of an alignment feature (not shown) can be entered for self-centring of the hole on the centring pin 11 in the XY-plane.
  • the hook 13 is retracted into the centring pin 11, for instance to allow the pin 11 to enter the hole.
  • the centring pin 11 is partially retracted into the fixed group 15 to ensure a contact of the alignment feature with the reference level locator 12. Additionally, the hook 13 has been moved into a clamping position for fixing this contact.
  • FIG. 5 an exemplary embodiment of the second positioning unit 2 of a reference positioning system according to the invention is depicted. It is designed for being contacted by the second alignment feature 20 of the workpiece 5, which comprises an elongated slot.
  • the second positioning unit 2 comprises a fixed group 25, on which the second centring pin 21 and a floating group 24 are mounted.
  • the floating group 24 is mounted on the fixed group 25 movably in the first and second dimension X,Y and fixedly with respect to the third dimension Z.
  • the floating group 24 comprises a second reference level locator 22 located at a known distance from the workpiece's reference level Z 0 in the XY-plane and defining a second contact level Z 2 .
  • the centring pin 21 is mounted movably in the third dimension Z and immovably with respect to the first and second dimension X,Y.
  • the centring pin 21 preferably has a pyramidal shape and is designed for being introduced into an elongated slot.
  • a further aspect of the invention is a positioning unit as a stand-alone solution, as every one of the positioning units described above in the Figures 3a-d , 4a-b and 5 can also be used separately or in other combinations than that of the described reference positioning system.
  • One or more positioning units can thus be used to position a workpiece and clamp it in place for inspection, treatment or machining.
  • a first embodiment of this aspect of the invention is a positioning unit for positioning an alignment feature of a workpiece at least in a third dimension of a three-dimensional coordinate system, comprising a reception unit with a centring pin and a reference level locator defining a contact level that is located at a defined distance from a workpiece reference level, wherein the positioning unit comprises clamping means for fixing the first alignment feature to the first reference level locator.
  • a second embodiment of this aspect of the invention is a positioning unit according to the first embodiment, additionally comprising clamping means for fixing the first alignment feature to the first reference level locator, wherein the clamping means of this positioning unit in particular comprise a hook being provided in the centring pin, and/or a magnet or a suction pad being provided in the reference level locator.
  • a third embodiment of this aspect of the invention is a positioning unit according to the first or second embodiment, additionally comprising clamping means for fixing the first alignment feature to the first reference level locator, wherein for levelling the alignment feature in the contact level the centring pin of this positioning unit is movable in the third dimension relative to the first reference level locator and in such a way that the first contact level is traversable by at least a part of the first centring pin, in particular wherein the clamping means comprise the structural features as described in Figures 4a and 4b .

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Automatic Assembly (AREA)
  • Jigs For Machine Tools (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Laser Beam Processing (AREA)

Claims (15)

  1. Referenzpositionierungssystem zur Positionierung eines Werkstücks (5) in einem dreidimensionalen Koordinatensystem, wobei das Referenzpositionierungssystem umfasst:
    • eine erste Positionierungseinheit (1) zum Positionieren einer ersten Ausrichtungsstruktur (10) des Werkstücks (5) in einer ersten Dimension (X), in einer zweiten Dimension (Y) und in einer dritten Dimension (Z), umfassend eine erste Aufnahmeeinheit mit einem ersten Zentrierzapfen (11) und einen ersten Referenzniveau-Locator (12), der ein erstes Kontaktniveau (Z1) definiert,
    • eine zweite Positionierungseinheit (2) zum Positionieren einer zweiten Ausrichtungsstruktur (20) des Werkstücks (5) in der zweiten Dimension (Y) und in der dritten Dimension (Z), umfassend eine zweite Aufnahmeeinheit mit einem zweiten Zentrierzapfen (21) und einen zweiten Referenzniveau-Locator (22), der ein zweites Kontaktniveau (Z2) definiert, und
    • eine dritte Positionierungseinheit (3) zum Positionieren einer dritten Ausrichtungsstruktur (30) des Werkstücks (5) in der dritten Dimension (Z), umfassend eine dritte Aufnahmeeinheit mit einem dritten Referenzniveau-Locator (32), der ein drittes Kontaktniveau (Z3) definiert,
    wobei die Referenzniveau-Locatoren (12, 22, 32) in definierten Abständen von einem Werkstück-Referenzniveau (Z0) angeordnet sind,
    dadurch gekennzeichnet, dass
    zur Nivellierung der ersten Ausrichtungsstruktur (10) im ersten Kontaktniveau (Z1) der erste Zentrierzapfen (11)
    • in der dritten Dimension (Z) in Relation zum ersten Referenzniveau-Locator (12) beweglich ist und
    • auf eine solche Art beweglich ist, dass das erste Kontaktniveau (Z1) wenigstens von einem Teil des ersten Zentrierzapfenes (11) überquerbar ist.
  2. Referenzpositionierungssystem nach Anspruch 1,
    dadurch gekennzeichnet, dass
    der erste Referenzniveau-Locator (12) eine planare Oberfläche zum Kontaktieren der ersten Ausrichtungsstruktur (10) aufweist, wobei die Oberfläche auf dem ersten Kontaktniveau (Z1) angeordnet ist, und/oder
    wenigstens ein Teil des ersten Zentrierzapfenes (11) eine konische Form aufweist und zur Einführung in ein kreisförmiges Loch ausgeführt ist.
  3. Referenzpositionierungssystem nach Anspruch 1 oder Anspruch 2,
    dadurch gekennzeichnet, dass
    zur Nivellierung der zweiten Ausrichtungsstruktur (20) auf dem zweiten Kontaktniveau (Z2) der zweite Zentrierzapfen (21)
    • in der dritten Dimension (Z) in Relation zum zweiten Referenzniveau-Locator (22) beweglich ist und
    • auf eine Art beweglich ist, dass das zweite Kontaktniveau (Z2) wenigstens durch einen Teil des zweiten Zentrierzapfenes (21) überquerbar ist.
  4. Referenzpositionierungssystem nach einem der vorangehenden Ansprüche,
    dadurch gekennzeichnet, dass
    wenigstens ein Teil des zweiten Zentrierzapfenes (21)
    • eine konische Form aufweist oder
    • eine Pyramidenform oder Walmdachform aufweist und dazu ausgeführt ist, in einem Längsschlitz eingeführt zu werden.
  5. Referenzpositionierungssystem nach einem der vorangehenden Ansprüche,
    dadurch gekennzeichnet, dass
    wenigstens die erste Positionierungseinheit (1) Klemmmittel (13) zum Befestigen der ersten Ausrichtungsstruktur (10) am ersten Referenzniveau-Locator (12) aufweist, wobei die Klemmmittel (13) insbesondere
    • einen im ersten Zentrierzapfen (11) vorgesehenen Haken und/oder
    • einen Magneten oder einen Saugnapf umfassen, die im Referenzniveau-Locator (12) vorgesehen sind.
  6. Referenzpositionierungssystem nach einem der vorangehenden Ansprüche,
    dadurch gekennzeichnet, dass
    eine Bewegung des ersten Zentrierzapfenes (11) in Relation zum ersten Kontaktniveau (Z1)
    • von Stellantrieben gesteuert wird, insbesondere von Motoren, Linearantrieben oder pneumatischen oder hydraulischen Zylindern und/oder
    • durch eine Federbelastung, die insbesondere elektromagnetische Mittel umfasst.
  7. Referenzpositionierungssystem nach einem der vorangehenden Ansprüche,
    dadurch gekennzeichnet, dass
    die erste Positionierungseinheit (1) ferner umfasst:
    • eine fixierte Gruppe (15), wobei der erste Zentrierzapfen (11) mit der fixierten Gruppe (15) derart verbunden ist, dass er in der dritten Dimension (Z) beweglich und in der ersten Dimension (X) und in der zweiten Dimension (Y) fixiert ist, wobei der erste Zentrierzapfen (11) in die fixierte Gruppe (15) wenigstens teilweise hinter dem ersten Referenzniveau-Locator (12) zurückführbar ist, und
    • eine schwebende Gruppe (14), die mit der fixierten Gruppe (15) derart verbunden ist, dass sie in der ersten Dimension (X) und in der zweiten Dimension (Y) beweglich ist und in der dritten Dimension (Z) fixiert ist, wobei der erste Referenzniveau-Locator (12) ein Teil der schwebenden Gruppe (14) ist, wobei die schwebende Gruppe (14) insbesondere mit geringer Reibung zwei Freiheitsgrade und/oder wenigstens 5 mm in jede Richtung beweglich ist.
  8. Referenzpositionierungssystem nach einem der vorangehenden Ansprüche,
    dadurch gekennzeichnet, dass
    • der zweite Zentrierzapfen (21) in der dritten Dimension (Z) beweglich ist,
    • die dritte Positionierungseinheit (3) einen dritten Zapfen (31) umfasst, der insbesondere zylindrisch und/oder in der dritten Dimension (Z) beweglich ist, und/oder
    • das Referenzpositionierungssystem eine vierte Positionierungseinheit (4) umfasst.
  9. Verfahren zum Positionieren und Ausrichten eines Werkstücks (5) in einem dreidimensionalen Koordinatensystem mittels eines Referenzpositionierungssystems,
    • wobei das Koordinatensystem eine erste Dimension (X), eine zweite Dimension (Y) und eine dritte Dimension (Z) aufweist,
    • wobei das Werkstück (5) wenigstens drei Ausrichtungsstrukturen (10, 20, 30) aufweist, die an bekannten Positionen des Werkstücks (5) angeordnet sind,
    • wobei das Referenzpositionierungssystem wenigstens drei Positionierungseinheiten (1, 2, 3) zur Kontaktierung und Positionierung der Ausrichtungsstrukturen (10, 20, 30) aufweist und
    • Die Positionierungseinheiten (1, 2, 3) mit Bezug zum Koordinatensystem positionierbar sind, wobei das Verfahren
    • das Platzieren des Werkstücks (5) im Referenzpositionierungssystem auf eine Weise umfasst, dass
    o eine erste Ausrichtungsstruktur (10) eine erste Positionierungseinheit (1) kontaktiert,
    o eine zweite Ausrichtungsstruktur (20) eine zweite Positionierungseinheit (2) kontaktiert, und
    o eine dritte Ausrichtungsstruktur (30) eine dritte Positionierungseinheit (3) kontaktiert,
    • Ausrichten der ersten Ausrichtungsstruktur (10) in der ersten Dimension (X) und in der zweiten Dimension (Y),
    gekennzeichnet durch
    die Versetzung der ersten Ausrichtungsstruktur (10) auf ein erstes Kontaktniveau (Z1) der dritten Dimension (Z), wobei die Ausrichtung der ersten Ausrichtungsstruktur (10) in der ersten Dimension (X) und in der zweiten Dimension (Y) beibehalten wird.
  10. Verfahren nach Anspruch 9,
    dadurch gekennzeichnet, dass
    • die erste Positionierungseinheit (1) einen ersten Zentrierzapfen (11) und einen ersten Referenzniveau-Locator (12) umfasst,
    • die erste Ausrichtungsstruktur (10) ein kreisförmiges Loch umfasst,
    • das Ausrichten der ersten Ausrichtungsstruktur (10) in der ersten Dimension (X) und in der zweiten Dimension (Y) das Einführen des ersten Zentrierzapfenes (11) in das kreisförmige Loch umfasst, und
    • die erste Ausrichtungsstruktur (10) vom ersten Zentrierzapfen (11) auf eine Art versetzt wird, dass die erste Ausrichtungsstruktur (10) den ersten Referenzniveau-Locator (12) auf dem ersten Referenzniveau (Z1) kontaktiert.
  11. Verfahren nach Anspruch 9 oder Anspruch 10,
    gekennzeichnet durch
    das Fixieren des Kontakts zwischen der ersten Ausrichtungsstruktur (10) und der ersten Positionierungseinheit (1) im Anschluss an das Positionieren und das Ausrichten des Werkstückes (5) insbesondere durch Klemm- und/oder magnetische Kräfte.
  12. Verfahren nach einem der Ansprüche 9, 10 oder 11,
    gekennzeichnet durch
    die Bestimmung einer Position und Orientierung des Referenzpositionierungssystems vor einer ersten Platzierung des Werkstückes (5) auf dem Referenzpositionierungssystem und auf Basis von Laser- oder photogrammetrischen Prinzipien, insbesondere mittels eines
    • Theodolits oder eines Laser-Trackers (6), und/oder
    • eines Messsystems einer Messzelle, in der das Werkstück (5) gemessen werden soll.
  13. Verfahren nach einem der Ansprüche 9 bis 12,
    gekennzeichnet durch
    das Messen und/oder Bearbeiten des Werkstückes (5) im Anschluss an seine Positionierung und Orientierung mit einer Produktionstoleranz, wobei eine Ausrichtungsgenauigkeit der Positionierung und der Orientierung höher ist als die Produktionstoleranz und/oder eine Toleranz der gemessenen Merkmale, insbesondere wenigstens um eine Größenordnung höher.
  14. Verfahren nach einem der Ansprüche 9 bis 13,
    dadurch gekennzeichnet, dass
    • das Werkstück (5) ein Automobil-Karosserieteil ist und/oder
    • Das Referenzpositionierungssystem zur Verwendung in einer Messzelle einer Automobilproduktionsstraße geeignet ist.
  15. Computerprogrammprodukt mit computerausführbaren Befehlen zur Ausführung des Verfahrens eines der Ansprüche 9 bis 14, insbesondere im Betrieb auf einem Speicher- und Rechenmittel eines Referenzpositionierungssystems nach einem der Ansprüche 1 bis 8.
EP13752868.3A 2012-08-20 2013-08-07 Mechanische positionierungsvorrichtung und verfahren Not-in-force EP2885200B1 (de)

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EP12425140.6A EP2700570A1 (de) 2012-08-20 2012-08-20 Mechanische Positionierungsvorrichtung und Verfahren
PCT/EP2013/066545 WO2014029622A1 (en) 2012-08-20 2013-08-07 Mechanical positioning device and method
EP13752868.3A EP2885200B1 (de) 2012-08-20 2013-08-07 Mechanische positionierungsvorrichtung und verfahren

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EP2885200A1 (de) 2015-06-24
CN104507787A (zh) 2015-04-08
EP2700570A1 (de) 2014-02-26
US20150227132A1 (en) 2015-08-13
IN2014DN10104A (de) 2015-08-21
WO2014029622A1 (en) 2014-02-27
ES2611342T3 (es) 2017-05-08
CN104507787B (zh) 2016-08-17
PL2885200T3 (pl) 2017-05-31
BR112014030483A2 (pt) 2017-06-27

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